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RocketctRocketct
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added Support for ScienceKit rev 2
added Support for rScienceKit rev 2 and modified .github actions
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‎.github/workflows/compile-examples.yml

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- name: ArduinoBLE
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- name: Adafruit LSM9DS1 Library
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sketch-paths: examples/ScienceKit/PhysicsLabFirmware
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- fqbn: arduino:mbed_nano:nano33ble
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platforms: |
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- name: arduino:mbed_nano
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libraries: |
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- name: Arduino_APDS9960
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- name: Arduino_HTS221
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- name: Arduino_LPS22HB
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- name: Arduino_LSM6DSOX
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- name: DFRobot_BMM150
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- name: INA2xx
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- name: SerialFlash
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- name: ArduinoBLE
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- name: Arduino_CMSIS-DSP
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sketch-paths: examples/ScienceKitR2/Nano33BLESenseFirmware
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- fqbn: arduino:samd:mkrwifi1010
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platforms: |
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- name: arduino:samd
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libraries: |
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- name: ArduinoBLE
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- name: Arduino_LSM6DSOX
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- name: DFRobot_BMM150
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- name: INA2xx
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- name: SerialFlash
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sketch-paths: examples/ScienceKitR2/PhysicsLabFirmware
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steps:
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- name: Checkout repository

‎examples/ScienceKitR2/Nano33BLESenseFirmware/LowPower.cpp

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#include "Arduino.h"
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#include "mbed.h"
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#include "ArduinoBLE.h"
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#include "LowPower.h"
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#include "nrf_power.h"
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#include "nrf_uarte.h"
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#include "nrf_uart.h"
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void lowPower()
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{
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// Disable UARTE0 which is initially enabled by the bootloader
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nrf_uarte_task_trigger(NRF_UARTE0, NRF_UARTE_TASK_STOPRX);
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while (!nrf_uarte_event_check(NRF_UARTE0, NRF_UARTE_EVENT_RXTO)) ;
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NRF_UARTE0->ENABLE = 0;
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NRF_UART0->ENABLE = 0;
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// Enable DCDC
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nrf_power_dcdcen_set(true);
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// Turn off LED_BUILTIN
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digitalWrite(LED_BUILTIN, LOW);
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}
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void lowPowerWait(unsigned long time)
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{
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rtos::ThisThread::sleep_for(time);
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}
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void lowPowerBleWait(unsigned long time)
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{
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unsigned long timeRef = millis();
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while (millis() - timeRef < time) {
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BLE.poll(time - (millis() - timeRef));
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}
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}

‎examples/ScienceKitR2/Nano33BLESenseFirmware/LowPower.h

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#ifndef _LOWPOWER_H_
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#define _LOWPOWER_H_
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void lowPower();
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void lowPowerWait(unsigned long time);
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void lowPowerBleWait(unsigned long time);
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#endif //_LOWPOWER_H_

‎examples/ScienceKitR2/Nano33BLESenseFirmware/Nano33BLESenseFirmware.ino

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#include "LowPower.h"
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#include <arm_math.h>
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#include "config.h"
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#include <PDM.h>
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#include <ArduinoBLE.h>
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const int VERSION = 0x00000001;
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#define SCIENCE_KIT_UUID(val) ("555a0002-" val "-467a-9538-01f0652c74e8")
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//#define DEBUG 0
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BLEService service (SCIENCE_KIT_UUID("0000"));
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BLEUnsignedIntCharacteristic versionCharacteristic (SCIENCE_KIT_UUID("0001"), BLERead);
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BLECharacteristic accelerationCharacteristic (SCIENCE_KIT_UUID("0011"), BLENotify, 3 * sizeof(float));
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BLECharacteristic gyroscopeCharacteristic (SCIENCE_KIT_UUID("0012"), BLENotify, 3 * sizeof(float));
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BLECharacteristic magneticFieldCharacteristic(SCIENCE_KIT_UUID("0013"), BLENotify, 3 * sizeof(float));
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BLEFloatCharacteristic temperatureCharacteristic (SCIENCE_KIT_UUID("0014"), BLENotify);
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BLEFloatCharacteristic pressureCharacteristic (SCIENCE_KIT_UUID("0015"), BLENotify);
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BLEFloatCharacteristic humidityCharacteristic (SCIENCE_KIT_UUID("0016"), BLENotify);
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BLEUnsignedIntCharacteristic proximityCharacteristic (SCIENCE_KIT_UUID("0017"), BLENotify);
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BLECharacteristic colorCharacteristic (SCIENCE_KIT_UUID("0018"), BLENotify, 4 * sizeof(int));
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BLEUnsignedShortCharacteristic soundPressureCharacteristic(SCIENCE_KIT_UUID("0019"), BLENotify);
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BLEFloatCharacteristic resistanceCharacteristic (SCIENCE_KIT_UUID("0020"), BLENotify);
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byte voltageBufferIndex = 0;
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bool voltageBufferFilled = false;
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short soundSampleBuffer[256];
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void updateSubscribedCharacteristics();
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void onPDMdata() {
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// query the number of bytes available
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int bytesAvailable = PDM.available();
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// read into the sample buffer
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PDM.read(soundSampleBuffer, bytesAvailable);
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}
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uint16_t getSoundAverage() {
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uint32_t avg = 0;
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for (int i = 0; i < sizeof(soundSampleBuffer)/sizeof(soundSampleBuffer[0]); i++) {
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avg += soundSampleBuffer[i]*soundSampleBuffer[i];
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}
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return sqrt(avg);
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}
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// String to calculate the local and device name
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String name;
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unsigned long lastNotify = 0;
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void printSerialMsg(const char * msg) {
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#ifdef DEBUG
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if (Serial) {
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Serial.println(msg);
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}
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#endif
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}
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void setup() {
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#ifdef DEBUG
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Serial.begin(9600);
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while (!Serial);
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Serial.println("Started");
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#endif
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delay(2000);
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sensorsInit();
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PDM.onReceive(onPDMdata);
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if (!PDM.begin(1, 16000)) {
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printSerialMsg("Failed to start PDM!");
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blinkLoop();
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}
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if (!BLE.begin()) {
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printSerialMsg("Failed to initialized BLE!");
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blinkLoop();
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}
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String address = BLE.address();
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#ifdef DEBUG
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if (Serial) {
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Serial.print("address = ");
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Serial.println(address);
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}
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#endif
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address.toUpperCase();
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name = "BLE Sense - ";
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name += address[address.length() - 5];
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name += address[address.length() - 4];
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name += address[address.length() - 2];
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name += address[address.length() - 1];
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#ifdef DEBUG
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if (Serial) {
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Serial.print("name = ");
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Serial.println(name);
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}
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#endif
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BLE.setLocalName(name.c_str());
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BLE.setDeviceName(name.c_str());
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BLE.setAdvertisedService(service);
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service.addCharacteristic(versionCharacteristic);
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service.addCharacteristic(accelerationCharacteristic);
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service.addCharacteristic(gyroscopeCharacteristic);
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service.addCharacteristic(magneticFieldCharacteristic);
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service.addCharacteristic(temperatureCharacteristic);
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service.addCharacteristic(pressureCharacteristic);
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service.addCharacteristic(humidityCharacteristic);
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service.addCharacteristic(proximityCharacteristic);
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service.addCharacteristic(colorCharacteristic);
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service.addCharacteristic(soundPressureCharacteristic);
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service.addCharacteristic(resistanceCharacteristic);
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versionCharacteristic.setValue(VERSION);
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BLE.addService(service);
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BLE.advertise();
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lowPower();
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}
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void loop() {
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BLE.poll(1000);
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while (BLE.connected()) {
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lowPowerBleWait(100);
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updateSubscribedCharacteristics();
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}
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}
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void updateSubscribedCharacteristics() {
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if (accelerationCharacteristic.subscribed()) {
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if (IMU.accelerationAvailable()) {
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float x, y, z;
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IMU.readAcceleration(x, y, z);
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float acceleration[3];
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acceleration[0] = x;
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acceleration[1] = y;
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acceleration[2] = z;
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accelerationCharacteristic.writeValue((byte*)acceleration, sizeof(acceleration));
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}
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}
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if (gyroscopeCharacteristic.subscribed()) {
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if (IMU.gyroscopeAvailable()) {
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float x, y, z;
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IMU.readGyroscope(x, y, z);
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float gyroscope[3];
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gyroscope[0] = x;
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gyroscope[1] =y;
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gyroscope[2] = z;
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gyroscopeCharacteristic.writeValue((byte*)gyroscope, sizeof(gyroscope));
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}
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}
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if (magneticFieldCharacteristic.subscribed()) {// CHECK
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sBmm150MagData_t m = bmm150.getGeomagneticData();
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float magneticField[3];
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magneticField[0] = m.x;
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magneticField[1] = m.y;
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magneticField[2] = m.z;
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magneticFieldCharacteristic.writeValue((byte*)magneticField, sizeof(magneticField));
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}
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if (temperatureCharacteristic.subscribed()) {
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float temperature = TempSens.getTemperature();
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temperatureCharacteristic.writeValue(temperature);
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}
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if(resistanceCharacteristic.subscribed()){
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float resistanceAvg = INFINITY;
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resistanceAvg = ResSens.getResistorValue();
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resistanceCharacteristic.writeValue(resistanceAvg);
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}
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if (proximityCharacteristic.subscribed() && APDS.proximityAvailable()) {
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uint32_t proximity = APDS.readProximity();
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proximityCharacteristic.writeValue(proximity);
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}
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if (colorCharacteristic.subscribed() && APDS.colorAvailable()) {
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int color[4];
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APDS.readColor(color[0], color[1], color[2], color[3]);
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colorCharacteristic.writeValue((byte*)color, sizeof(color));
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}
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if (pressureCharacteristic.subscribed()) {
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float pressure = BARO.readPressure();
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pressureCharacteristic.writeValue(pressure);
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}
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}

‎examples/ScienceKitR2/Nano33BLESenseFirmware/config.h

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#include "ArduinoScienceJournal.h"
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// Flash memory
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#include "SerialFlash.h"
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#include <SPI.h>
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const int FlashChipSelect = 2;
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#include <Arduino_APDS9960.h>
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#include <Arduino_HTS221.h>
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#include <Arduino_LPS22HB.h>
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// IMU
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#include <Arduino_LSM6DSOX.h>
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// 3 axis magnetometer
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#include "DFRobot_BMM150.h"
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// INA
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#include <INA.h>
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#include <avr/dtostrf.h>
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DFRobot_BMM150_I2C bmm150(&Wire, I2C_ADDRESS_1);
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const uint32_t SHUNT_MICRO_OHM{100000}; ///< Shunt resistance in Micro-Ohm, e.g. 100000 is 0.1 Ohm
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const uint16_t MAXIMUM_AMPS{1}; ///< Max expected amps, clamped from 1A to a max of 1022A
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INA_Class INA;
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SerialFlashFile file;
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void blinkLoop() {
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while (1) {
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digitalWrite(LED_BUILTIN, HIGH);
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delay(500);
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digitalWrite(LED_BUILTIN, LOW);
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delay(500);
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}
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}
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void sensorsInit() {
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// INA Init
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if (!INA.begin(MAXIMUM_AMPS, SHUNT_MICRO_OHM)) {
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Serial.println(F("No INA device found, retrying in 10 seconds..."));
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while(1);
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} // while no devices detected
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Serial.println("INA init success!");
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INA.setBusConversion(8500); // Maximum conversion time 8.244ms
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INA.setShuntConversion(8500); // Maximum conversion time 8.244ms
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INA.setAveraging(128); // Average each reading n-times
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INA.setMode(INA_MODE_CONTINUOUS_BOTH); // Bus/shunt measured continuously
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INA.alertOnBusOverVoltage(true, 5000); // Trigger alert if over 5V on bus
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// bmm150
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while(bmm150.begin()){
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Serial.println("bmm150 init failed, Please try again!");
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delay(1000);
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} Serial.println("bmm150 init success!");
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Serial.println("bmm150 init success!");
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// BMM150 init
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// Set sensor operation mode
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bmm150.setOperationMode(BMM150_POWERMODE_NORMAL);
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//Set preset mode
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bmm150.setPresetMode(BMM150_PRESETMODE_HIGHACCURACY);
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// Set the rate of obtaining geomagnetic data, the higher, the faster (without delay function)
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bmm150.setRate(BMM150_DATA_RATE_10HZ);
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// Enable the measurement at x-axis, y-axis and z-axis,
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bmm150.setMeasurementXYZ();
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// LSM6DSOX init
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if (!IMU.begin()) {
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Serial.println("Failed to initialize IMU!");
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while (1);
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}
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Serial.println("IMU Initialized");
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// Flash Init
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if (!SerialFlash.begin(FlashChipSelect)) {
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Serial.println(F("Failed to initialize Flash!"));
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while (1);
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}
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Serial.println("Flash Initialized");
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if (!APDS.begin()) {
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Serial.println("Failed to initialized APDS!");
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blinkLoop();
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}
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if (!HTS.begin()) {
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Serial.println("Failed to initialized HTS!");
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blinkLoop();
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}
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if (!BARO.begin()) {
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Serial.println("Failed to initialized BARO!");
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blinkLoop();
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}
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}

‎examples/ScienceKitR2/PhysicsLabFirmware/.DS_Store

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